No, you are not required to make Estimated Tax Payments if your tax owed us under 1K, as you mention.
Yes, you can make one estimated payment and not make the other three if you choose.
No, this won't trigger an audit, unless you owed tax every year and never made any estimated payments. Most people want to make Estimated Payments to avoid the Underpayment Penalty.
Here's detailed info about Making Estimated Tax Payments and an in-depth article about Estimated Taxes you may find helpful.
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